基于层次地标的n连杆旋转机械臂导航

Ravinesh Chand, Sandeep Kumar, R. P. Chand
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引用次数: 9

摘要

本文提出了一种动态n连杆旋转机械臂,它可以执行一系列任务并通过分层地标导航到目标。研究了具有多个Lyapunov函数的切换系统的稳定性条件。基于Lyapunov的控制方案(LbCS)形成了多个Lyapunov函数,作为分析Lyapunov稳定性的工具。研制了一套新型的切换非线性定常连续稳定速度控制器。
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Navigation of an n-link Revolute Robotic Arm via Hierarchal Landmarks
This paper presents a dynamic n-link revolute robotic arm that can perform a sequence of tasks and navigate via hierarchal landmarks to its target. The stability condition with multiple Lyapunov functions for switched systems is considered. The multiple Lyapunov functions are formulated from the Lyapunov-based Control Scheme (LbCS) as a tool for analyzing Lyapunov stability. A new set of switched nonlinear, time-invariant, continuous, and stabilizing velocity controllers of the proposed Rn robotic arm are developed.
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